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<h1>mdl_hyper3d</h1><p><span class="helptopic">Create model of a hyper redundant 3D manipulator</span></p><p>
MDL_HYPER3D is a script that creates the workspace variable h3d which
describes the kinematic characteristics of a serial link manipulator with
10 joints which at zero angles is a straight line in the XY plane.

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<p>
<span style="color:red">mdl_hyper3d</span>(<strong>n</strong>) as above but creates a manipulator with <strong>n</strong> joints.

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<p>
Also define the workspace vectors:

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<p>
qz  joint angle vector for zero angle configuration

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<p>
<strong>R</strong> = <span style="color:red">mdl_hyper3d</span>(<strong>n</strong>) functional form of the above, returns the SerialLink object.

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<p>
[<strong>R</strong>,<strong>qz</strong>] = <span style="color:red">mdl_hyper3d</span>(<strong>n</strong>) as above but also returns a vector of zero joint angles.

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<h2>Notes</h2>
<ul>
  <li>In the zero configuration joint axes alternate between being parallel
to the z- and y-axes.</li>
  <li>A crude snake or elephant trunk robot.</li>
  <li>The manipulator in default pose is a straight line 1m long.</li>
  <li>Unlike most other mdl_xxx scripts this one is actually a function that
behaves like a script and writes to the global workspace.</li>
</ul>
<h2>See also</h2>
<p>
<a href="mdl_hyper2d.html">mdl_hyper2d</a>, <a href="mdl_ball.html">mdl_ball</a>, <a href="mdl_coil.html">mdl_coil</a>, <a href="SerialLink.html">SerialLink</a></p>
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